Whitby Town will now welcome Essex opposition on Tuesday in an FA Cup final qualifying round replay.
The Blues are bidding to reach the proper stages for the first time in 20 years.
They had gone ahead after a strong first half at Chelmsford City of National South.
Jacob Gratton broke the deadlock before the break.
Junior Mondal then doubled Town's tally early in the second period.
However, City, who play one league above the Blues, battled back to earn a 2-2 draw.
Town manager Nathan Haslam spoke to Whitby Town TV post-match:
The two sides will replay at Whitby's Towbar Express Stadium on Tuesday at 7.45pm.
The Blues will be in Sunday's FA Cup First Round draw, they and Chelmsford are ball number 60, it takes place on ITV1 from 2.30pm.


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